2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1Specifications for Models
Item | Specification | ||||
Robot Model | HA006B | HA006L | |||
Structure | Articulated | ||||
Degree of freedom | 6 | ||||
Drive system | AC servo type | ||||
Max. Working envelope | Arm | S | Swivel | ±3.00rad(±172°) | ±3.23 rad(±185°) |
H | Horizontal | +3.14rad~ -1.36rad (+180°~ -78°) | +3.40rad ~ -1.22rad (+195°~ -70°) | ||
V | Vertical | +3.14rad ~ -1.43rad (+180°~ -82°) | +3.14rad ~ -1.39rad (+180°~ -80°) | ||
Wrist | R2 | Rotation 2 | ±3.14 rad (±180°) | ±3.403 rad (±195°) | |
B | Bending | ±2.356 rad (±135°) | |||
R1 | Rotation 1 | ±6.283 rad (±360°) | |||
Maximum speed | Arm | S | Swivel | 4.01rad/s (230°/s) | 3.32rad/s (190°/s) |
H | Horizontal | 4.01rad/s (230°/s) | 3.14rad/s (180°/s) | ||
V | Vertical | 4.01rad/s (230°/s) | 3.32rad/s (190°/s) | ||
Wrist | R2 | Rotation 2 | 7.50rad/s (430°/s) | 6.63rad/s (380°/s) | |
B | Bending | 7.50rad/s (430°/s) | |||
R1 | Rotation 1 | 11.17rad/s (640°/s) | |||
Load Capacity | 58.8 N (6kg) | ||||
Wrist torque | R2 | Rotation 2 | 11.8N·m (1.2kgf·m) | 39.2 N·m (4 kgf·m) | |
B | Bending | 9.8N·m (1.0kgf·m) | |||
R1 | Rotation 1 | 5.9N·m (0.6kgf·m) | |||
Accuracy of position repeatability | ±0.05 mm | ±0.08 mm | |||
Ambient Temperature | 0~45℃ (273 ~ 318 K) | ||||
Relative humidity | 20 ~ 85 %RH | ||||
Robot's Weight | 145kg | 224kg | |||
Working envelope section area | 3.16 m² | 7.88 m² | |||